toolhead: Store both the start and end position in the Move class

Store the start position (in addition to the existing end position) in
the Move class.  The start position can be useful to the kinematic
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/cartesian.py

@@ -67,16 +67,17 @@ class CartKinematics:
     def query_endstops(self, move_time):
         return homing.QueryEndstops(["x", "y", "z"], self.steppers)
     def check_endstops(self, move):
+        end_pos = move.end_pos
         for i in StepList:
             if (move.axes_d[i]
-                and (move.pos[i] < self.limits[i][0]
-                     or move.pos[i] > self.limits[i][1])):
+                and (end_pos[i] < self.limits[i][0]
+                     or end_pos[i] > self.limits[i][1])):
                 if self.limits[i][0] > self.limits[i][1]:
-                    raise homing.EndstopError(move.pos, "Must home axis first")
-                raise homing.EndstopError(move.pos)
+                    raise homing.EndstopError(end_pos, "Must home axis first")
+                raise homing.EndstopError(end_pos)
     def check_move(self, move):
         limits = self.limits
-        xpos, ypos = move.pos[:2]
+        xpos, ypos = move.end_pos[:2]
         if (xpos < limits[0][0] or xpos > limits[0][1]
             or ypos < limits[1][0] or ypos > limits[1][1]):
             self.check_endstops(move)
@@ -96,7 +97,8 @@ class CartKinematics:
         inv_accel = 1. / move.accel
         inv_cruise_v = 1. / move.cruise_v
         for i in StepList:
-            new_step_pos = int(move.pos[i]*self.steppers[i].inv_step_dist + 0.5)
+            new_step_pos = int(
+                move.end_pos[i]*self.steppers[i].inv_step_dist + 0.5)
             steps = new_step_pos - self.stepper_pos[i]
             if not steps:
                 continue

klippy/extruder.py

@@ -21,7 +21,7 @@ class PrinterExtruder:
         self.stepper.motor_enable(move_time, 0)
     def check_move(self, move):
         if not self.heater.can_extrude:
-            raise homing.EndstopError(move.pos, "Extrude below minimum temp")
+            raise homing.EndstopError(move.end_pos, "Extrude below minimum temp")
         if (not move.do_calc_junction
             and not move.axes_d[0] and not move.axes_d[1]
             and not move.axes_d[2]):

klippy/toolhead.py

@@ -14,12 +14,13 @@ EXTRUDE_DIFF_IGNORE = 1.02
 
 # Class to track each move request
 class Move:
-    def __init__(self, toolhead, pos, axes_d, speed, accel):
+    def __init__(self, toolhead, start_pos, end_pos, speed, accel):
         self.toolhead = toolhead
-        self.pos = tuple(pos)
-        self.axes_d = axes_d
+        self.start_pos = tuple(start_pos)
+        self.end_pos = tuple(end_pos)
         self.accel = accel
         self.do_calc_junction = True
+        self.axes_d = axes_d = [end_pos[i] - start_pos[i] for i in (0, 1, 2, 3)]
         if axes_d[2]:
             # Move with Z
             move_d = math.sqrt(sum([d*d for d in axes_d[:3]]))
@@ -29,6 +30,10 @@ class Move:
             if not move_d:
                 # Extrude only move
                 move_d = abs(axes_d[3])
+                if not move_d:
+                    # No move
+                    self.move_d = 0.
+                    return
                 self.do_calc_junction = False
         self.move_d = move_d
         self.extrude_r = axes_d[3] / move_d
@@ -245,15 +250,12 @@ class ToolHead:
         self.commanded_pos[:] = newpos
         self.kin.set_position(newpos)
     def move(self, newpos, speed, sloppy=False):
-        axes_d = [newpos[i] - self.commanded_pos[i]
-                  for i in (0, 1, 2, 3)]
-        if axes_d == [0., 0., 0., 0.]:
-            # No move
-            return
         speed = min(speed, self.max_speed)
-        move = Move(self, newpos, axes_d, speed, self.max_accel)
+        move = Move(self, self.commanded_pos, newpos, speed, self.max_accel)
+        if not move.move_d:
+            return
         self.kin.check_move(move)
-        if axes_d[3]:
+        if move.axes_d[3]:
             self.extruder.check_move(move)
         self.commanded_pos[:] = newpos
         self.move_queue.add_move(move)